铰接式串联八轮机器人越障机理研究

An Obstacle-surmounting Mechanism of Articulated Series Eight-wheeled Robot

针对轮式机动平台在非结构化环境的工程需求,首创了一种主被动联合越障的铰接串联八轮机器人。机器人包括两台对称车体,由液压铰接机构连接,控制液压缸行程和刚柔状态切换,可以实现机器人位姿变换,适应地面障碍。建立了机器人质心运动模型,分析了机器人在垂直墙、壕沟的越障机理,在ADAMS进行越障性能仿真,并进行了样机实验。研究表明,该八轮机器人可攀爬高度为1.5倍轮径的垂直墙,通过宽度为1.5倍轴距的壕沟,具有良好的非结构化障碍通过性能。

Aiming at the limitation of the passive obstacle surmounting method of wheeled robots in unstructured ground environment,this paper proposes an articulated series eight-wheeled robot with active and passive obstacle surmounting method.The robot includes two symmetrical bodies connected by a hydraulic cylinder and a hinge mechanism.By controlling the hydraulic stroke displacement and hard and soft conditions,the robot can transform its attitude and surmount the vertical obstacle higher than its wheel′s diameter.This paper establishes the robot centroid movement model and analyzes the obstacle surmount mechanism of this robot on vertical obstacle and moat.Then,an obstacle surmounting simulation is carried out on ADAMS,and a real prototype experiment is also carried out.The results confirm that the robot can surmount the vertical obstacle height which is 1.5 times higher than the wheel diameter and 1.5 times higher than wheelbase moat,having a good ability to surmount obstacles in the unstructured ground environment.